def filter_toolpath(self, toolpath):
new_path = []
last_pos = None
optional_moves = []
for move_type, args in toolpath:
if move_type in (MOVE_STRAIGHT, MOVE_STRAIGHT_RAPID):
if last_pos:
# find all remaining pieces of this line
inner_lines = []
for polygon in self.settings["polygons"]:
inner, outer = polygon.split_line(Line(last_pos, args))
inner_lines.extend(inner)
# turn these lines into moves
for line in inner_lines:
if pdist(line.p1, last_pos) > epsilon:
new_path.append((MOVE_SAFETY, None))
new_path.append((move_type, line.p1))
else:
# we continue were we left
if optional_moves:
new_path.extend(optional_moves)
optional_moves = []
new_path.append((move_type, line.p2))
last_pos = line.p2
optional_moves = []
# finish the line by moving to its end (if necessary)
if pdist(last_pos, args) > epsilon:
optional_moves.append((MOVE_SAFETY, None))
optional_moves.append((move_type, args))
last_pos = args
elif move_type == MOVE_SAFETY:
optional_moves = []
else:
new_path.append((move_type, args))
return new_path
def filter_toolpath(self, toolpath):
feedrate = min_feedrate = 1
new_path = []
last_pos = None
limit = self.settings["timelimit"]
duration = 0
for move_type, args in toolpath:
if move_type in (MOVE_STRAIGHT, MOVE_STRAIGHT_RAPID):
if last_pos:
new_distance = pdist(args, last_pos)
new_duration = new_distance / max(feedrate, min_feedrate)
if (new_duration > 0) and (duration + new_duration > limit):
partial = (limit - duration) / new_duration
destination = padd(last_pos, pmul(psub(args, last_pos), partial))
duration = limit
else:
destination = args
duration += new_duration
else:
destination = args
new_path.append((move_type, destination))
last_pos = args
if (move_type == MACHINE_SETTING) and (args[0] == "feedrate"):
feedrate = args[1]
if duration >= limit:
break
return new_path
def is_near_list(point_list, point, distance):
for p in point_list:
if pdist(p, point) <= distance:
return True
return False
def simplify_polygon_intersections(lines):
new_group = lines[:]
# remove all non-adjacent intersecting lines (this splits the group)
if len(new_group) > 0:
group_starts = []
index1 = 0
while index1 < len(new_group):
index2 = 0
while index2 < len(new_group):
index_distance = min(
abs(index2 - index1),
abs(len(new_group) - (index2 - index1)))
# skip neighbours
if index_distance > 1:
line1 = new_group[index1]
line2 = new_group[index2]
intersection, factor = line1.get_intersection(
line2)
if intersection and (pdist(intersection, line1.p1) > epsilon) \
and (pdist(intersection, line1.p2) > epsilon):
del new_group[index1]
new_group.insert(index1,
Line(line1.p1, intersection))
new_group.insert(index1 + 1,
Line(intersection, line1.p2))
# Shift all items in "group_starts" by one if
# they reference a line whose index changed.
for i in range(len(group_starts)):
if group_starts[i] > index1:
group_starts[i] += 1
if index1 + 1 not in group_starts:
group_starts.append(index1 + 1)
# don't update index2 -> maybe there are other hits
elif intersection and (pdist(
intersection, line1.p1) < epsilon):
if index1 not in group_starts:
group_starts.append(index1)
index2 += 1
else:
index2 += 1
else:
index2 += 1
index1 += 1
# The lines intersect each other
# We need to split the group.
if len(group_starts) > 0:
group_starts.sort()
groups = []
last_start = 0
for group_start in group_starts:
transfer_group = new_group[last_start:group_start]
# add only non-empty groups
if transfer_group:
groups.append(transfer_group)
last_start = group_start
# Add the remaining lines to the first group or as a new
# group.
if groups[0][0].p1 == new_group[-1].p2:
groups[0] = new_group[last_start:] + groups[0]
else:
groups.append(new_group[last_start:])
# try to find open groups that can be combined
combined_groups = []
for index, current_group in enumerate(groups):
# Check if the group is not closed: try to add it to
# other non-closed groups.
if current_group[0].p1 == current_group[-1].p2:
# a closed group
combined_groups.append(current_group)
else:
# the current group is open
for other_group in groups[index + 1:]:
if other_group[0].p1 != other_group[-1].p2:
# This group is also open - a candidate
# for merging?
if other_group[0].p1 == current_group[
-1].p2:
current_group.reverse()
for line in current_group:
other_group.insert(0, line)
break
if other_group[-1].p2 == current_group[
0].p1:
other_group.extend(current_group)
break
else:
# not suitable open group found
combined_groups.append(current_group)
return combined_groups
else:
# just return one group without intersections
return [new_group]
else:
return None
def dist_to_point(self, p):
return pdist(p, self.closest_point(p))
def get_cost(self, other):
return pdist(other.start, self.end)
def test_point_near(p, others):
for o in others:
if pdist(p, o) < max_dist:
return True
return False
def get_offset_polygons_validated(self, offset):
if self.is_outer():
inside_shifting = max(0, -offset)
else:
inside_shifting = max(0, offset)
if inside_shifting * 2 >= self.get_max_inside_distance():
# no polygons will be left
return []
points = []
for index in range(len(self._points)):
points.append(self.get_shifted_vertex(index, offset))
max_dist = 1000 * epsilon
def test_point_near(p, others):
for o in others:
if pdist(p, o) < max_dist:
return True
return False
reverse_lines = []
shifted_lines = []
for index, p1 in enumerate(points):
next_index = (index + 1) % len(points)
p2 = points[next_index]
diff = psub(p2, p1)
old_dir = pnormalized(
psub(self._points[next_index], self._points[index]))
if pnormalized(diff) != old_dir:
# the direction turned around
if pnorm(diff) > max_dist:
# the offset was too big
return None
else:
reverse_lines.append(index)
shifted_lines.append((True, Line(p1, p2)))
else:
shifted_lines.append((False, Line(p1, p2)))
# look for reversed lines
index = 0
while index < len(shifted_lines):
line_reverse, line = shifted_lines[index]
if line_reverse:
prev_index = (index - 1) % len(shifted_lines)
next_index = (index + 1) % len(shifted_lines)
prev_reverse, prev_line = shifted_lines[prev_index]
while prev_reverse and (prev_index != next_index):
prev_index = (prev_index - 1) % len(shifted_lines)
prev_reverse, prev_line = shifted_lines[prev_index]
if prev_index == next_index:
# no lines are left
print("out 1")
return []
next_reverse, next_line = shifted_lines[next_index]
while next_reverse and (prev_index != next_index):
next_index = (next_index + 1) % len(shifted_lines)
next_reverse, next_line = shifted_lines[next_index]
if prev_index == next_index:
# no lines are left
print("out 2")
return []
if pdist(prev_line.p2, next_line.p1) > max_dist:
cp, dist = prev_line.get_intersection(next_line)
else:
cp = prev_line.p2
if cp:
shifted_lines[prev_index] = (False, Line(prev_line.p1, cp))
shifted_lines[next_index] = (False, Line(cp, next_line.p2))
else:
cp, dist = prev_line.get_intersection(next_line,
infinite_lines=True)
raise BaseException(
"Expected intersection not found: %s - %s - %s(%d) / %s(%d)"
% (cp, shifted_lines[prev_index + 1:next_index],
prev_line, prev_index, next_line, next_index))
if index > next_index:
# we wrapped around the end of the list
break
else:
index = next_index + 1
else:
index += 1
non_reversed = [
one_line for rev, one_line in shifted_lines
if not rev and one_line.len > 0
]
# split the list of lines into groups (based on intersections)
split_points = []
index = 0
while index < len(non_reversed):
other_index = 0
while other_index < len(non_reversed):
other_line = non_reversed[other_index]
if (other_index == index) \
or (other_index == ((index - 1) % len(non_reversed))) \
or (other_index == ((index + 1) % len(non_reversed))):
# skip neighbours
other_index += 1
continue
line = non_reversed[index]
cp, dist = line.get_intersection(other_line)
if cp:
if not test_point_near(
cp,
(line.p1, line.p2, other_line.p1, other_line.p2)):
# the collision is not close to an end of the line
return None
elif (cp == line.p1) or (cp == line.p2):
# maybe we have been here before
if cp not in split_points:
split_points.append(cp)
elif (pdist(cp, line.p1) < max_dist) or (pdist(
cp, line.p2) < max_dist):
if pdist(cp, line.p1) < pdist(cp, line.p2):
non_reversed[index] = Line(cp, line.p2)
else:
non_reversed[index] = Line(line.p1, cp)
non_reversed.pop(other_index)
non_reversed.insert(other_index,
Line(other_line.p1, cp))
non_reversed.insert(other_index + 1,
Line(cp, other_line.p2))
split_points.append(cp)
if other_index < index:
index += 1
# skip the second part of this line
other_index += 1
else:
# the split of 'other_line' will be handled later
pass
other_index += 1
index += 1
groups = [[]]
current_group = 0
split_here = False
for line in non_reversed:
if line.p1 in split_points:
split_here = True
if split_here:
split_here = False
# check if any preceding group fits to the point
for index, group in enumerate(groups):
if not group:
continue
if index == current_group:
continue
if group[0].p1 == group[-1].p2:
# the group is already closed
continue
if line.p1 == group[-1].p2:
current_group = index
groups[current_group].append(line)
break
else:
current_group = len(groups)
groups.append([line])
else:
groups[current_group].append(line)
if line.p2 in split_points:
split_here = True
# try to combine open groups
for index1, group1 in enumerate(groups):
if not group1:
continue
for index2, group2 in enumerate(groups):
if not group2:
continue
if index2 <= index1:
continue
if (group1[-1].p2 == group2[0].p1) \
and (group1[0].p1 == group2[-1].p2):
group1.extend(group2)
groups[index2] = []
break
result_polygons = []
print("********** GROUPS **************")
for a in groups:
print(a)
for group in groups:
if len(group) <= 2:
continue
poly = Polygon(self.plane)
for line in group:
try:
poly.append(line)
except ValueError:
print("NON_REVERSED")
for a in non_reversed:
print(a)
print(groups)
print(split_points)
print(poly)
print(line)
raise
if self.is_closed and ((not poly.is_closed) or
(self.is_outer() != poly.is_outer())):
continue
elif (not self.is_closed) and (poly.get_area() != 0):
continue
else:
result_polygons.append(poly)
return result_polygons
def get_distance_between_groups(group1, group2):
forward = pdist(group1[-1].p2, group2[0].p1)
backward = pdist(group2[-1].p2, group1[0].p1)
return min(forward, backward)
def get_free_paths_triangles(models, cutter, p1, p2, return_triangles=False):
if (len(models) == 0) or ((len(models) == 1) and (models[0] is None)):
return (p1, p2)
elif len(models) == 1:
# only one model is left - just continue
model = models[0]
else:
# multiple models were given - process them in layers
result = get_free_paths_triangles(models[:1], cutter, p1, p2,
return_triangles)
# group the result into pairs of two points (start/end)
point_pairs = []
while result:
pair1 = result.pop(0)
pair2 = result.pop(0)
point_pairs.append((pair1, pair2))
all_results = []
for pair in point_pairs:
one_result = get_free_paths_triangles(models[1:], cutter, pair[0],
pair[1], return_triangles)
all_results.extend(one_result)
return all_results
backward = pnormalized(psub(p1, p2))
forward = pnormalized(psub(p2, p1))
xyz_dist = pdist(p2, p1)
minx = min(p1[0], p2[0])
maxx = max(p1[0], p2[0])
miny = min(p1[1], p2[1])
maxy = max(p1[1], p2[1])
minz = min(p1[2], p2[2])
# find all hits along scan line
hits = []
triangles = model.triangles(minx - cutter.distance_radius,
miny - cutter.distance_radius, minz,
maxx + cutter.distance_radius,
maxy + cutter.distance_radius, INFINITE)
for t in triangles:
(cl1, d1, cp1) = cutter.intersect(backward, t, start=p1)
if cl1:
hits.append(Hit(cl1, cp1, t, -d1, backward))
(cl2, d2, cp2) = cutter.intersect(forward, t, start=p1)
if cl2:
hits.append(Hit(cl2, cp2, t, d2, forward))
# sort along the scan direction
hits.sort(key=lambda h: h.d)
count = 0
points = []
for h in hits:
if h.dir == forward:
if count == 0:
if -epsilon <= h.d <= xyz_dist + epsilon:
if len(points) == 0:
points.append((p1, None, None))
points.append((h.cl, h.t, h.cp))
count += 1
else:
if count == 1:
if -epsilon <= h.d <= xyz_dist + epsilon:
points.append((h.cl, h.t, h.cp))
count -= 1
if len(points) % 2 == 1:
points.append((p2, None, None))
if len(points) == 0:
# check if the path is completely free or if we are inside of the model
inside_counter = 0
for h in hits:
if -epsilon <= h.d:
# we reached the outer limit of the model
break
if h.dir == forward:
inside_counter += 1
else:
inside_counter -= 1
if inside_counter <= 0:
# we are not inside of the model
points.append((p1, None, None))
points.append((p2, None, None))
if return_triangles:
return points
else:
# return only the cutter locations (without triangles)
return [cut_info[0] for cut_info in points]